Living pupa automatic inoculation device and implementation method thereof

Abstract

The invention discloses an automatic live pupa inoculation device which comprises a workbench, an inoculation assembly is installed above the workbench, a six-axis robot is arranged on one side of the inoculation assembly, a grabbing assembly is installed at the output end of the six-axis robot, and a conveying belt used for conveying a positioning box containing pupae is arranged on one side of the workbench. A first binocular camera is arranged above the conveying belt; the invention further discloses an implementation method of the live pupa automatic inoculation device. The positioning box containing pupae is conveyed through the conveying belt, the position of the positioning box is positioned through the first binocular camera, the six-axis robot drives the grabbing assembly to grab the pupae, automatic inoculation of the pupae is achieved through the inoculation assembly, automatic positioning, grabbing and inoculation operation of the pupae is achieved, and the working efficiency is improved. The inoculation accuracy and the working efficiency are improved, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] This invention belongs to the field of automatic inoculation technology of live pupae, specifically relating to an automatic inoculation device for live pupae and its implementation method. Background Technology

[0002] Cordyceps militaris is a fungus used for both food and medicine. Its protein content is as high as 40.7%, containing a complete range of essential amino acids in sufficient quantities and appropriate proportions. Cultivated Cordyceps militaris also contains abundant vitamins and minerals, making it highly valuable. The fruiting body of Cordyceps militaris can be used medicinally; it is neutral in nature and sweet in taste, benefiting the lungs and kidneys, stopping bleeding and resolving phlegm. It is generally used for tuberculosis, weakness in the elderly, and anemia. Cordyceps militaris contains abundant cordycepic acid, cordycepin, and ergosterol, which have effects such as bronchodilator, sedation, antibacterial activity, and blood pressure reduction.

[0003] Currently, the inoculation of caterpillar fungus pupae in the production process is mostly done manually by catching and capturing them. This not only results in low capture accuracy, easy damage to the pupal structure and contamination of the pupae, but also makes it difficult for the pupae to develop into qualified caterpillar fungus after inoculation. Furthermore, the accuracy of the needle insertion point and depth during manual injection is insufficient, which restricts the large-scale development of the caterpillar fungus industry and brings a tedious and boring work experience to the workers. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic inoculation device for live pupae to solve the problems mentioned in the background art. The automatic inoculation device for live pupae provided by this invention features automatic positioning and capture of pupae, as well as inoculation with the larvae.

[0005] Another objective of this invention is to provide a method for implementing an automatic inoculation device for live pupae.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic inoculation device for live pupae, comprising a workbench, an inoculation component mounted on the top of the workbench, a six-axis robot mounted on one side of the inoculation component, a gripping component mounted on the output end of the six-axis robot, a conveyor belt for transporting a positioning box containing pupae on one side of the workbench, and a first binocular camera mounted above the conveyor belt.

[0007] To ensure the accuracy of injection position and depth, the inoculation assembly further includes a three-axis moving module and an injection needle. A lifting seat is installed on the output end of the three-axis moving module, and a first double-slider screw module is installed above the lifting seat. The syringe barrel of the injection needle is clamped on one slider of the first double-slider screw module, and the push rod of the injection needle is clamped on the other slider of the first double-slider screw module. A medicine tank is connected to one side of the lifting seat, and the medicine tank is connected to the syringe barrel of the injection needle through a connecting pipe. A main-view binocular camera is installed at the end of the lifting seat, and a mounting plate is connected below the end of the lifting seat. A bottom-view binocular camera is installed on the mounting plate.

[0008] To achieve automatic grasping of pupae, the grasping component further includes a connecting seat, a connecting shaft connected above the connecting seat, a second double-slider screw module connected below the connecting seat, a third double-slider screw module connected to each of the two sliders of the second double-slider screw module, and flexible grippers connected to each of the two sliders of the third double-slider screw module. The flexible grippers include gripper seats, clamping plates connected to the gripper seats, airbags connected to the clamping plates, and a negative pressure suction cup located between the flexible grippers connected below the connecting seat.

[0009] In order to monitor the pressure of the air bladder in real time and feed it back to the PLC controller, the PLC controller can adjust the pressure of the air bladder in real time to avoid damage to the pupae due to excessive pressure. Furthermore, a pressure sensor with a probe inserted into the air bladder is installed on the clamp plate, and the pressure sensor is connected to the PLC controller signal.

[0010] In order to limit the movement of the pupae to a certain extent and facilitate the precise injection of the vaccine, the bottom surface of the negative pressure suction cup is further provided with a cavity, and the suction hole is set inside the cavity.

[0011] To identify the coordinates of the four corners of the outer frame in the positioning box, so that the second and third double slider screw modules can accurately adjust the position of the flexible gripper, the flexible gripper can accurately fall into the cavity, avoiding the inability to stably grasp the pupa or crushing the pupa due to inaccurate positioning. Furthermore, a second binocular camera is installed at both ends of the bottom surface of the negative pressure suction cup, and the second binocular camera is connected to the PLC controller signal.

[0012] To disinfect the pupae by spraying them with alcohol before they are caught, the negative pressure suction cup is further connected to a pressure tank containing alcohol via a connecting tube.

[0013] To limit the range of movement of the pupae, increase the accuracy of positioning and identification, and ensure precise grasping of the pupae, the positioning box further includes an outer frame and an inner box, wherein the inner box is set inside the outer frame, and a cavity is provided between the inner box and the outer frame.

[0014] Furthermore, in this invention, the method for implementing the automatic inoculation device for live pupae includes the following steps:

[0015] (i) The positioning box containing the pupae is conveyed backward to the grasping position by the conveyor belt. The first binocular camera locates the position of the positioning box, and the six-axis robot drives the grasping component to move above the positioning box.

[0016] (ii) The second binocular camera on the negative pressure suction cup identifies the coordinates of the four corners of the outer frame in the positioning box. The second and third double slider screw modules move to make the flexible gripper correspond to the cavity in the positioning box. Then, the six-axis robot drives the gripping component to descend to the gripping position.

[0017] (III) The negative pressure suction cup sprays alcohol for 2 seconds, and then the negative pressure suction cup starts to suck air, adsorbing the pupae in the inner box into the cavity of the negative pressure suction cup. The six-axis robot drives the grasping component to move upward, and at the same time the airbag starts to inflate to the set air pressure. The pressure sensor monitors the pressure of the airbag in real time, and the PLC controller adjusts the pressure of the airbag in real time.

[0018] (iv) The six-axis robot moves the gripping component to the inoculation position. The main view binocular camera and the upward view binocular camera accurately identify the position information of the pupa. The three-axis moving module moves the injection needle to the injection position to inoculate the pupa.

[0019] (v) After the inoculation is completed, the six-axis robot will put the inoculated pupae back into the positioning box.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. This invention uses a conveyor belt to transport a positioning box containing pupae, a first binocular camera to locate the position of the positioning box, a six-axis robot to drive a gripping component to grip the pupae, and an inoculation component to automatically inoculate the pupae. This achieves automatic positioning, gripping, and inoculation of pupae, improving the accuracy of inoculation and work efficiency, and reducing the labor intensity of workers.

[0022] 2. This invention requires no human intervention from locating the pupae to completing the inoculation. It can adopt a fully enclosed sterile injection chamber design to ensure that the entire injection process is carried out under sterile conditions, effectively reducing the risk of pupal infection and improving the survival rate of pupae and the success rate of experiments or production.

[0023] 3. This invention accurately identifies the position information of the pupa through a front-view binocular camera and a rear-view binocular camera. At the same time, the rear-view binocular camera can also identify the injection depth. In conjunction with a three-axis motion module, the injection needle is moved in the XYZ directions, ensuring the accuracy of the injection position and injection depth.

[0024] 4. This invention restricts the range of movement of the pupa by using a positioning box, which facilitates the positioning of the pupa. The negative pressure suction cup generates negative pressure to suck up the pupa, thus achieving precise grasping of the pupa.

[0025] 5. The present invention has a flexible gripper on the outside of the negative pressure suction cup. After the negative pressure suction cup sucks up the pupa, the flexible gripper holds the pupa, which not only ensures the stability of the pupa gripping and prevents the pupa from falling, but also restricts the pupa's peristalsis, which facilitates the accurate injection of the vaccine.

[0026] 6. The flexible gripper of the present invention is equipped with an air bladder, which enables flexible gripping of the pupa and can effectively avoid damage to the pupa.

[0027] 7. This invention monitors the pressure of the air bladder in real time through a pressure sensor and feeds it back to the PLC controller. The PLC controller then adjusts the pressure of the air bladder in real time to prevent the pupae from being damaged due to excessive pressure.

[0028] 8. The positioning box of the present invention includes an outer frame and an inner box. The inner box is set inside the outer frame, and a cavity is provided between the inner box and the outer frame. The inner box restricts the range of movement of the pupa, and the outer frame increases the accuracy of positioning and identification, ensuring the precise grasping of the pupa.

[0029] 9. The negative pressure suction cup of the present invention is equipped with a second binocular camera at both ends of the bottom surface. The second binocular camera identifies the coordinates of the four corners of the outer frame in the positioning box, thereby facilitating the precise adjustment of the position of the flexible gripper by the second and third double slider screw modules. This allows the flexible gripper to fall accurately into the cavity, avoiding the inability to stably grip the pupa or the crushing of the pupa due to inaccurate positioning.

[0030] 10. The negative pressure suction cup of the present invention is also connected to a pressure tank containing alcohol via a connecting tube, which allows the pupae to be sprayed with alcohol for disinfection before being grasped. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of the present invention.

[0032] Figure 2 This is a schematic diagram of the gripping component of the present invention.

[0033] Figure 3 This is a schematic diagram of the flexible gripper structure of the present invention.

[0034] Figure 4 This is a schematic diagram of the negative pressure suction cup of the present invention.

[0035] Figure 5 This is a schematic diagram of the positioning box of the present invention.

[0036] Figure 6 This is a schematic diagram of the structure of the first dual-slider lead screw module of the present invention.

[0037] Figure 7 This is a schematic diagram of the inoculation component of the present invention.

[0038] In the diagram: 1. Workbench; 2. Inoculation assembly; 21. Three-axis moving module; 22. Lifting seat; 23. Medicine tank; 24. Injection needle; 25. Main-view binocular camera; 26. Low-view binocular camera; 27. Mounting plate; 28. First double-slider lead screw module; 3. Six-axis robot; 4. First binocular camera; 5. Gripping assembly; 51. Connecting shaft; 52. Connecting seat; 53. Second double-slider lead screw module; 531. Base; 532. First lead screw; 533. First lead screw nut; 534. First slider; 535. First servo motor; 536. Second servo motor; 537. Second lead screw; 538. Second lead screw nut; 539. Second slider; 54. Negative pressure suction cup; 541. Cavity; 542. Adsorption hole; 543. Second binocular camera; 55. Flexible gripper; 551. Gripper seat; 552. Clamping plate; 553. Airbag; 56. Third double slider lead screw module; 6. Positioning box; 61. Outer frame; 62. Cavity; 63. Inner box; 7. Conveyor belt. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0042] In the description of this invention, the terms "upper," "lower," "right," and "left," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used merely for distinction in description and have no special meaning.

[0043] Example 1

[0044] Please see Figures 1-7 This embodiment provides the following technical solution: an automatic inoculation device for live pupae, including a workbench 1, an inoculation component 2 installed above the workbench 1, a six-axis robot 3 arranged on one side of the inoculation component 2, a gripping component 5 installed on the output end of the six-axis robot 3, a conveyor belt 7 for conveying a positioning box 6 containing pupae on one side of the workbench 1, a first binocular camera 4 arranged above the conveyor belt 7, and the drive motors of the six-axis robot 3, the first binocular camera 4 and the conveyor belt 7 are respectively connected to the PLC controller signal.

[0045] By adopting the above technical solution, this invention uses a conveyor belt 7 to transport the positioning box 6 containing pupae, a first binocular camera 4 to locate the position of the positioning box 6, a six-axis robot 3 to drive the grasping component 5 to grasp the pupae, and an inoculation component 2 to automatically inoculate the pupae. This achieves automatic positioning, grasping, and inoculation of pupae, improving inoculation accuracy and work efficiency, and reducing the labor intensity of workers. This invention requires no manual intervention from pupa positioning to inoculation completion. It can employ a fully enclosed sterile injection chamber design to ensure the entire injection process is carried out under sterile conditions, effectively reducing the risk of pupae infection and improving the survival rate of pupae and the success rate of experiments or production.

[0046] Specifically, the inoculation assembly 2 includes a three-axis moving module 21 and an injection needle 24. A lifting seat 22 is mounted on the output end of the three-axis moving module 21. A first double-slider lead screw module 28 is mounted above the lifting seat 22. The syringe barrel of the injection needle 24 is clamped on one slider of the first double-slider lead screw module 28, and the push rod of the injection needle 24 is clamped on the other slider of the first double-slider lead screw module 28. A medicine container 23 is connected to one side of the lifting seat 22. The medicine container 23 is connected to the syringe barrel of the injection needle 24 via a connecting pipe. One-way valves are installed on the nozzle and the needle tip of the injection needle 24 to prevent air from entering the syringe from the needle tip when drawing out the medicine and to prevent the medicine in the syringe from flowing back into the medicine tank 23 when injecting the medicine. A main view binocular camera 25 is installed at the end of the lifting seat 22. A mounting plate 27 is connected to the lower end of the lifting seat 22. A bottom view binocular camera 26 is installed on the mounting plate 27. The servo motor of the three-axis moving module 21, the main view binocular camera 25 and the bottom view binocular camera 26 are all connected to the PLC controller signal.

[0047] By adopting the above technical solution, the present invention accurately identifies the position information of the pupa through the main view binocular camera 25 and the upward view binocular camera 26. At the same time, the upward view binocular camera 26 can also identify the injection depth. In conjunction with the three-axis motion module 21, the injection needle 24 is moved in the XYZ directions, ensuring the accuracy of the injection position and injection depth.

[0048] Specifically, the gripping component 5 includes a connecting base 52, with a connecting shaft 51 connected above the connecting base 52 and a second double-slider lead screw module 53 connected below the connecting base 52. A third double-slider lead screw module 56 is connected to each of the two sliders of the second double-slider lead screw module 53. Both the second double-slider lead screw module 53 and the third double-slider lead screw module 56 are connected to a PLC controller. Flexible grippers 55 are connected to the two sliders of the third double-slider lead screw module 56 and are respectively arranged opposite to each other. Each flexible gripper 55 includes a gripper base 551, a clamping plate 552 connected to the gripper base 551, and an airbag 553 connected to the clamping plate 552. The airbag 553 is... Made of silicone, the airbag 553 has an arc-shaped contact surface with the pupa. The airbag 553 is connected to the air source through a connecting tube, and a solenoid valve is installed on the connecting tube. The solenoid valve is connected to the PLC controller. The pressure of the airbag 553 is 1 kPa. Below the connecting seat 52, there is also a negative pressure suction cup 54 located between the flexible grippers 55. The negative pressure suction cup 54 is connected to the vacuum pump through a connecting tube, and a solenoid valve is installed on the connecting tube. The solenoid valve is connected to the PLC controller. The suction pressure of the negative pressure suction cup 54 is 0.9 kPa for small pupae weighing 10g-30g and 1.9 kPa for large pupae weighing 30g-50g.

[0049] Specifically, the second double slider lead screw module 53 includes a base 531, with a first lead screw 532 and a second lead screw 537 rotatably connected to the top of the base 531. A first servo motor 535 and a second servo motor 536 are respectively installed at the ends of the base 531. The output end of the first servo motor 535 is connected to one end of the first lead screw 532, and the output end of the second servo motor 536 is connected to one end of the second lead screw 537. A first slider 534 and a second slider 539 also slide on the top of the base 531. The bottom of the first slider 534 is connected to a first lead screw nut 533 threadedly connected to the first lead screw 532, and the bottom of the second slider 539 is connected to a second lead screw nut 538 threadedly connected to the second lead screw 537. The structures of the first double slider lead screw module 28 and the third double slider lead screw module 56 are the same as those of the second double slider lead screw module 53.

[0050] By adopting the above technical solution, this invention restricts the wriggling range of the pupa through the positioning box 6, facilitating the positioning of the pupa. The negative pressure suction cup 54 generates negative pressure to suck up the pupa, achieving precise grasping. This invention features flexible grippers 55 on the outer side of the negative pressure suction cup 54. After the negative pressure suction cup 54 sucks up the pupa, the flexible grippers 55 hold it in place, ensuring not only the stability of the grasp and preventing the pupa from falling, but also restricting its wriggling, facilitating precise vaccine injection. The flexible grippers 55 of this invention are equipped with air bladders 553, enabling flexible grasping of the pupa and effectively avoiding damage to it.

[0051] Specifically, a pressure sensor with a probe that extends into the airbag 553 is installed on the clamp 552, and the pressure sensor is connected to the PLC controller signal.

[0052] By adopting the above technical solution, the pressure of the air bladder 553 is monitored in real time by a pressure sensor and fed back to the PLC controller. The PLC controller then adjusts the pressure of the air bladder 553 in real time to avoid damage to the pupae due to excessive pressure.

[0053] Specifically, the positioning box 6 includes an outer frame 61 and an inner box 63. The inner box 63 is located inside the outer frame 61, and a cavity 62 is provided between the inner box 63 and the outer frame 61. The cavity 62 provides clearance space for the flexible gripper 55.

[0054] By adopting the above technical solution, the inner box 63 restricts the range of movement of the pupa, and the outer frame 61 increases the accuracy of positioning and identification, thus ensuring the precise grasping of the pupa.

[0055] Example 2

[0056] The difference between this embodiment and embodiment 1 is that: specifically, a cavity 541 is provided on the bottom surface of the negative pressure suction cup 54, the edge of the cavity 541 is rounded, and a silicone pad is attached to the rounded corner, and the suction hole 542 is located inside the cavity 541.

[0057] By adopting the above technical solution, the concave cavity 541 can restrict the peristalsis of pupae to a certain extent, which facilitates the precise injection of vaccines.

[0058] Example 3

[0059] The difference between this embodiment and embodiment 1 is that, specifically, a second binocular camera 543 is installed at both ends of the bottom surface of the negative pressure suction cup 54, and the second binocular camera 543 is connected to the PLC controller signal.

[0060] By adopting the above technical solution, the coordinates of the four corners of the outer frame 61 in the positioning box 6 are identified by the second binocular camera 543, which facilitates the precise adjustment of the position of the flexible gripper 55 by the second double slider screw module 53 and the third double slider screw module 56, so that the flexible gripper 55 can accurately fall into the cavity 62, avoiding the inability to stably grasp the pupa or crush the pupa due to inaccurate positioning.

[0061] Example 4

[0062] The difference between this embodiment and embodiment 1 is that, specifically, the negative pressure suction cup 54 is also connected to a pressure tank containing alcohol via a connecting pipe, and a solenoid valve is installed on the connecting pipe. The solenoid valve is connected to the PLC controller signal.

[0063] By adopting the above technical solution, the pupae can be sprayed with alcohol for disinfection before they are caught.

[0064] Example 5

[0065] The difference between this embodiment and embodiment 1 is that, specifically, a side clamping plate is connected to the outer side of one set of flexible grippers 55, and an airbag is also connected to the side clamping plate.

[0066] By adopting the above technical solution, the effectiveness of grasping the pupae is guaranteed.

[0067] Example 6

[0068] Furthermore, the method for implementing the automatic inoculation device for live pupae according to the present invention includes the following steps:

[0069] (a) The positioning box 6 containing the pupae is conveyed backward to the grasping position by the conveyor belt 7. The first binocular camera 4 locates the position of the positioning box 6, and the six-axis robot 3 drives the grasping component 5 to move above the positioning box 6.

[0070] (ii) The second binocular camera 543 on the negative pressure suction cup 54 identifies the coordinates of the four corners of the outer frame 61 in the positioning box 6. The second double slider screw module 53 and the third double slider screw module 56 move to make the flexible gripper 55 correspond to the cavity 62 in the positioning box 6. Then the six-axis robot 3 drives the gripping component 5 to descend to the gripping position.

[0071] (III) The negative pressure suction cup 54 sprays alcohol for 2 seconds, and then the negative pressure suction cup 54 starts to suck air, adsorbing the pupae in the inner box 63 into the cavity 541 of the negative pressure suction cup 54. The six-axis robot 3 drives the gripping component 5 to move upward, and at the same time the airbag 553 starts to inflate to the set air pressure. The pressure sensor monitors the pressure of the airbag 553 in real time, and the PLC controller adjusts the pressure of the airbag 553 in real time.

[0072] (iv) The six-axis robot 3 drives the gripping component 5 to the inoculation position. The main view binocular camera 25 and the upward view binocular camera 26 accurately identify the position information of the pupa. The three-axis moving module 21 drives the injection needle 24 to the injection position to inoculate the pupa.

[0073] (v) After the inoculation is completed, the six-axis robot 3 will put the inoculated pupae back into the positioning box 6.

[0074] In summary, this invention uses a conveyor belt 7 to transport the positioning box 6 containing pupae, a first binocular camera 4 to locate the position of the positioning box 6, a six-axis robot 3 to drive the grasping component 5 to grasp the pupae, and an inoculation component 2 to automatically inoculate the pupae. This achieves automatic positioning, grasping, and inoculation of the pupae, improving inoculation accuracy and work efficiency while reducing the labor intensity of workers. This invention requires no manual intervention from pupae positioning to inoculation completion. It can employ a fully enclosed sterile injection chamber design to ensure the entire injection process is performed under sterile conditions, effectively reducing the risk of pupae infection and improving the survival rate of pupae and the success rate of experiments or production. This invention uses a front-view binocular camera 25 and a rear-view binocular camera 26 to accurately identify the position information of the pupae. Simultaneously, the rear-view binocular camera 26 can also identify the injection depth. Combined with a three-axis motion module 21, it moves the injection needle 24 in the XYZ directions, ensuring the accuracy of the injection position and depth. This invention restricts the peristaltic range of the pupa using a positioning box 6, facilitating pupa positioning. A negative pressure suction cup 54 generates negative pressure to suck up the pupa, achieving precise grasping. Flexible grippers 55 are provided on the outer side of the negative pressure suction cup 54. After the negative pressure suction cup 54 sucks up the pupa, the flexible grippers 55 hold it in place, ensuring stable grasping and preventing the pupa from falling, while also restricting its peristalsis for accurate vaccine injection. An air bladder 553 is provided on the flexible gripper 55, enabling flexible grasping of the pupa and effectively preventing damage. This invention uses a pressure sensor to monitor the pressure of the air bladder 553 in real time and feeds it back to the PLC controller, which then adjusts the pressure of the air bladder 553 in real time to prevent damage to the pupa due to excessive pressure. The positioning box 6 of this invention includes an outer frame 61 and an inner box 63. The inner box 63 is disposed inside the outer frame 61, and a cavity 62 is provided between the inner box 63 and the outer frame 61. The inner box 63 restricts the range of movement of the pupa, while the outer frame 61 increases the accuracy of positioning and recognition, ensuring precise grasping of the pupa. The negative pressure suction cup 54 of this invention has a second binocular camera 543 installed at both ends of its bottom surface. The second binocular camera 543 identifies the coordinates of the four corners of the outer frame 61 in the positioning box 6, thereby facilitating the precise adjustment of the position of the flexible gripper 55 by the second double slider screw module 53 and the third double slider screw module 56. This ensures that the flexible gripper 55 accurately falls into the cavity 62, avoiding the inability to stably grasp the pupa or injuring it due to inaccurate positioning. The negative pressure suction cup 54 of this invention is also connected to a pressure tank containing alcohol via a connecting tube, allowing the pupa to be sprayed with alcohol for disinfection before grasping.

[0075] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic inoculation device for live pupae, characterized in that: The workbench is provided with a vaccination assembly above, one side of the vaccination assembly is provided with a six-axis robot, an output end of the six-axis robot is provided with a grabbing assembly, one side of the workbench is provided with a conveying belt for conveying a positioning box containing pupae, and the conveying belt is provided with a first binocular camera above.

2. The automatic pupa insect inoculation device of claim 1, wherein: The vaccination assembly comprises a three-axis moving module and a injection needle, an output end of the three-axis moving module is provided with a lifting seat, the lifting seat is provided with a first double-sliding-block screw module above, a needle barrel part of the injection needle is clamped on one sliding block of the first double-sliding-block screw module, a push rod part of the injection needle is clamped on the other sliding block of the first double-sliding-block screw module, the lifting seat is connected with a liquid medicine tank on one side, the liquid medicine tank is connected with the needle barrel part of the injection needle through a connecting pipe, the lifting seat is provided with a front-view binocular camera on an end, a mounting plate is connected below the end of the lifting seat, and a top-view binocular camera is mounted on the mounting plate.

3. The automatic pupa insect inoculation device of claim 1, wherein: The grabbing assembly comprises a connecting seat, a connecting shaft is connected above the connecting seat, a second double-sliding-block screw module is connected below the connecting seat, two sliding blocks of the second double-sliding-block screw module are respectively connected with third double-sliding-block screw modules, two sliding blocks of the third double-sliding-block screw modules are respectively connected with oppositely arranged flexible clamps, the flexible clamp comprises a clamp seat, a clamping plate is connected to the clamp seat, an air bag is connected to the clamping plate, and a negative pressure suction disc is further connected below the connecting seat and between the flexible clamps.

4. The automatic pupae inoculation device of claim 3, wherein: A pressure sensor is mounted on the clamping plate and extends into the air bag, and the pressure sensor is signal connected with a PLC controller.

5. The automatic pupae inoculation device of claim 3, wherein: A concave cavity is arranged on the bottom surface of the negative pressure suction disc, and the suction hole is arranged in the concave cavity.

6. The automatic pupae inoculation device of claim 3, wherein: Second binocular cameras are mounted on both ends of the bottom surface of the negative pressure suction disc, and the second binocular cameras are signal connected with the PLC controller.

7. The automatic pupae inoculation device of claim 3, wherein: The negative pressure suction disc is further connected with a pressure tank containing alcohol through a connecting pipe.

8. The automatic pupa insect inoculation device of claim 1, wherein: The positioning box comprises an outer frame and an inner box, wherein the inner box is arranged in the outer frame, and a cavity is arranged between the inner box and the outer frame.

9. A method for implementing an automatic inoculation device for live pupae according to any one of claims 1-8, characterized in that, The method comprises the following steps: (1) the positioning box containing pupae is conveyed to a grabbing position by the conveying belt, the first binocular camera positions the positioning box, and the six-axis robot drives the grabbing assembly to move above the positioning box; (2) the second binocular camera on the negative pressure suction disc identifies the coordinates of the four corners of the outer frame in the positioning box, the second double-sliding-block screw module and the third double-sliding-block screw module are actuated to make the flexible clamp correspond to the cavity in the positioning box, and then the six-axis robot drives the grabbing assembly to descend to the grabbing position; (3) the negative pressure suction disc sprays alcohol for 2 seconds, then starts to inhale, adsorbs the pupae in the inner box in the concave cavity of the negative pressure suction disc, the six-axis robot drives the grabbing assembly to move upward, the air bag starts to inflate to a set air pressure, the pressure sensor monitors the pressure of the air bag in real time, and the PLC controller adjusts the pressure of the air bag in real time; (4) the six-axis robot drives the grabbing assembly to a vaccination position, the front-view binocular camera and the top-view binocular camera accurately identify the position information of the pupae, the three-axis moving module drives the injection needle to move to an injection position to vaccinate the pupae; (5) after the vaccination is completed, the six-axis robot puts the vaccinated pupae back into the positioning box.

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